How to build Holonomic Robot

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We have used three wheeled Holonomic robots to implement our Trilateration formation keeping method. Here we explain how we have built one from scratch. The robots have 3 Degrees of Freedom (D.O.F), they can move translations X and Y and rotation Z (i.e Yaw).

Required Components

1) 1/16 in. Aluminum Frames (12 in. length x 24 in. width) for 3 frames

2) Rapberry Pi Zero

  • OTG usb hub (with atleast 2 ports for wifi dongle, L-CAS Sensor)
  • 3600 mAh portable power bank
  • 8GB MicroSD
  • Wifi Dongle

4) Arduino Pro Mini (for PWMs)

5) Pololu 200:1 Plastic Gearmotor (

6) Solobotic Gear Mount (

7) VEX IQ 63mm Omni Wheels (

8) L298N Motor Controller (

9) 2000 mAh 6V NiMH Battery (with charger) (

9) GY-271 Magnetometer

10) L-CAS Ranging Sensor